Stereo Visual Odometry

Overview

This project implements a simple Stereo Visual Odometry system based on the NOTF paper.

Dependencies

• OpenCV 4
• matplotlib
• tqdm

To installe required dependencies just execute pip install -r requirements.txt in your terminal.

Testing on the KITTI dataset

The following command can be used to test on the KITTI dataset : python -m visual_odometry dataset_path sequence_id

Figure 1: Results on sequence 02 of the KITTI dataset

References

• NOTF by Jörg Deigmöller and Julian Eggert
• Basic Knowledge on Visual SLAM: From Theory to Practice, by Xiang Gao, Tao Zhang, Qinrui Yan and Yi Liu
• KITTI dataset